The invention discloses a pneumatically-driven stingray-like fluctuation propulsion soft robot and a manufacturing method thereof. The soft robot is composed of a fin ray mounting framework, a flexible pectoral fin and a plurality of flexible air pipes. The whole robot is made of flexible materials except the fin ray mounting framework. The flexible pectoral fin is composed of driving fin rays anda flexible fin face, wherein the driving fin rays are arranged on the disc-shaped flexible fin face in a radial mode. Each driving fin ray is provided with an upper air cavity and a lower air cavity;the rigidity of the driving fin ray can be adjusted through the internal air pressure value; the top of the driving fin ray is connected to a blocking air cavity, and the outer side rigidity can be adjusted and controlled. The fishes propelled in a fluctuating manner have good maneuverability and concealment, a stable and flexible motion state can be kept in a complex working environment, the design of an underwater propeller for simulating fluctuation propulsion becomes a research hotspot, the stingray serves as a bionic object, and a new thought is provided for the design of the underwaterpropeller through deep bionics in the geometric and physical aspects.

    本发明公开了一种气动驱动仿魟鱼波动推进软体机器人及其制作方法,软体机器人由鳍条安装骨架、柔性胸鳍和多跟柔性气管组成。机器人整体除鳍条安装骨架以外全部由柔性材料制作。柔性胸鳍由驱动鳍条和柔性鳍面组成,其中驱动鳍条在“圆盘状”的柔性鳍面上呈放射状排布。驱动鳍条拥有上下两个气腔;驱动鳍条能通过内部气压值调节其刚度大小。驱动鳍条顶部连接有阻塞气腔,可实现外侧刚度大小调控。由于波动推进的鱼类具有良好的机动性和隐蔽性,能够在复杂的工作环境中保持稳定且灵活的运动状态,模拟波动推进的水下推进器设计成为研究的热点,本发明以“魟鱼”为仿生对象,通过几何和物理层面的深度仿生为水下推进器的设计提供了新的思路。


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    Title :

    Pneumatically-driven stingray-like fluctuation propulsion soft robot and manufacturing method thereof


    Additional title:

    一种气动驱动仿魟鱼波动推进软体机器人及其制作方法


    Contributors:
    ZHANG JINHUA (author) / GUO SONGZI (author) / LI BAOTONG (author) / CHENG HAIYAN (author) / YANG YUHAN (author) / LI QIUYANG (author)

    Publication date :

    2020-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B29C Formen oder Verbinden von Kunststoffen , SHAPING OR JOINING OF PLASTICS / B33Y ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING , Additive (generative) Fertigung, d. h. die Herstellung von dreidimensionalen [3D] Bauteilen durch additive Abscheidung, additive Agglomeration oder additive Schichtung, z. B. durch 3D- Drucken, Stereolithografie oder selektives Lasersintern



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